System and method for positioning an automated assembly tool relative to a structure

• US 10,118,714 B2
• Filed: 12/03/2014
• Issued: 11/06/2018
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Reid, Eric M., Banks, David Paul, Jones, Darrell Darwin
• Primary Examiner(s): Lebentritt, Michael
• Application Number:
  US14/558,853
• Publication Number:
  US 20150314888A1
• Time in Patent Office: 1,434 Days
• Field of Search: None
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10S 901/44 inspection
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A method and apparatus for positioning an end effector relative to a structure. The apparatus may comprise the end effector and a sensor system. The end effector may be configured to perform an operation on the structure. The sensor system may have a plurality of sensors extending outward from the end effector.

Claims

1. An apparatus comprising:

an end effector configured to perform an operation on a structure;

a sensor system having a plurality of sensors extending outward from the end effector; and

a pressure foot connected to the end effector and configured to contact a surface of the structure, wherein the plurality of sensors extends outward from the pressure foot.

2. The apparatus of claim 1, wherein the plurality of sensors generate position data about a position of the plurality of sensors relative to the surface of the structure.

3. The apparatus of claim 1, wherein the plurality of sensors is located centrally in the pressure foot and extends outward substantially perpendicular to a contact surface of the pressure foot.

7. The apparatus of claim 1, wherein the plurality of sensors extends outward from a channel located centrally in the pressure foot.

10. The apparatus of claim 1, wherein the sensor system is configured to identify whether an object is present on the surface of the structure and generate a signal configured to stop the end effector before the pressure foot reaches the object.

11. The apparatus of claim 1 further comprising:

a movement system configured to change a position of the end effector relative to the surface of the structure based on position data from the plurality of sensors.

12. The apparatus of claim 11, wherein the movement system is configured to dynamically change the position of the end effector as the end effector moves closer to the surface of the structure.

13. The apparatus of claim 11, wherein the movement system is configured to change an orientation of the end effector to a desired orientation prior to contact with the surface of the structure based on the position data from the plurality of sensors.

14. The apparatus of claim 13, wherein the orientation of the end effector is changed as the end effector moves toward the surface of the structure.

15. The apparatus of claim 13, wherein a contact surface of the pressure foot is substantially parallel to the surface of the structure when the end effector is in the desired orientation.

16. The apparatus of claim 13, wherein the movement system moves the end effector at a first speed and reduces the first speed to a second speed prior to the pressure foot contacting the surface of the structure based on the position data from the plurality of sensors.

17. The apparatus of claim 16, wherein a speed of the end effector is dynamically changed from the first speed to the second speed as the end effector moves toward the surface of the structure.

18. The apparatus of claim 1 further comprising:

a biasing system associated with the plurality of sensors and configured to move the plurality of sensors between an extended position and a retracted position in response to the plurality of sensors contacting the surface of the structure.

19. The apparatus of claim 1, wherein the structure is selected from one of a wing, a fuselage, an aileron, a flap, a slat, a spoiler, a stabilizer, a door, a housing, and a nacelle.

20. The apparatus of claim 1, wherein a sensor in the plurality of sensors is selected from one of a linear variable differential transformer, a capacitive transducer, a contact encoder, a capacitive displacement sensor, an eddy-current sensor, an ultrasonic sensor, an ultrasonic sensor, a laser, and a multi-axis displacement transducer.

21. The apparatus of claim 1, wherein the sensor system is configured to measure a flushness of a fastener inserted into a hole drilled in a surface of the structure.

22. The apparatus of claim 1, wherein the end effector is configured to hold a set of tools comprising at least one of a drilling system, an inspection system, a fastener installer, a sealant applicator, a sprayer, or a cleaning system.

23. The apparatus of claim 1 further comprising:

a number of protective elements positioned on at least one sensor in the plurality of sensors and configured to substantially prevent the at least one sensor from scratching a surface of the structure.

4. An apparatus comprising:

an end effector configured to perform an operation on a structure;

a sensor system having a plurality of sensors extending outward from the end effector; and

a pressure foot connected to the end effector and configured to contact a surface of the structure, wherein the plurality of sensors has an equilateral triangular arrangement.

5. The apparatus of claim 4, wherein each of the plurality of sensors is located at a corner in the equilateral triangular arrangement, and wherein a channel runs through a center of the equilateral triangular arrangement.

6. An apparatus comprising:

an end effector configured to perform an operation on a structure;

a sensor system having a plurality of sensors extending outward from the end effector; and

a pressure foot connected to the end effector and configured to contact a surface of the structure, wherein the plurality of sensors is configured to contact the surface of the structure prior to the pressure foot contacting the surface of the structure.

8. The apparatus of claim further comprising:

a load cell associated with the pressure foot and configured to identify a contact force between the pressure foot and the surface of the structure.

9. The apparatus of claim 8, wherein at least one of a speed of the end effector or a distance traveled by the end effector is modified as the end effector moves toward the surface of the structure based on the contact force identified by the load cell.

24. A method for positioning an end effector relative to a structure, the method comprising:

generating position data about a position of a plurality of sensors in a sensor system relative to a surface of the structure, wherein the plurality of sensors extends outward from a pressure foot associated with the end effector; and

changing a position of the end effector relative to the surface of the structure based on the position data generated by the plurality of sensors.

25. The method of claim 24 further comprising:

changing the position of the end effector as the end effector moves toward the surface of the structure.

26. The method of claim 24, wherein the plurality of sensors is located centrally in the pressure foot and extends outward substantially perpendicular to a contact surface of the pressure foot.

27. The method of claim 26, wherein the plurality of sensors has an equilateral triangular arrangement.

28. The method of claim 27, wherein each of the plurality of sensors is located at a corner in the equilateral triangular arrangement, and wherein a channel runs through a center of the equilateral triangular arrangement.

29. The method of claim 26, wherein the plurality of sensors generate the position data about the position of the plurality of sensors relative to the surface of the structure.

30. The method of claim 26 further comprising:

changing an orientation of the end effector to a desired orientation prior to contact with the surface of the structure based on the position data from the plurality of sensors, wherein the contact surface of the pressure foot is substantially normal to the surface of the structure when the end effector is in the desired orientation.

31. The method of claim 30 further comprising:

changing the orientation of the end effector as the end effector moves toward the surface of the structure.

32. The method of claim 30 further comprising:

moving the end effector at a first speed using a movement system; and

contacting the surface of the structure with at least one sensor in the plurality of sensors as the end effector moves at the first speed.

33. The method of claim 32 further comprising:

reducing the first speed to a second speed prior to the pressure foot contacting the surface of the structure based on the position data from the plurality of sensors.

34. The method of claim 33 further comprising:

reducing the first speed to the second speed as the end effector moves toward the surface of the structure.

35. The method of claim 24 further comprising:

contacting the surface of the structure with the plurality of sensors; and

moving the plurality of sensors between an extended position and a retracted position within a housing of the pressure foot as the end effector moves toward the surface of the structure.

36. The method of claim 24 further comprising:

biasing the plurality of sensors outward from the pressure foot from a channel located centrally in the pressure foot.

37. The method of claim 24 further comprising:

contacting the surface of the structure using the pressure foot with a desired contact force; and

performing an operation on the surface of the structure using a set of tools associated with the end effector.

38. The method of claim 37 further comprising:

moving the set of tools relative to the surface of the structure using a track system on a shuttle table associated with the end effector to perform the operation.

39. The method of claim 24 further comprising:

identifying a contact force between the pressure foot and the surface of the structure using a load cell associated with the pressure foot; and

modifying at least one of a speed of the end effector or a distance traveled by the end effector based on the contact force identified.

40. The method of claim 39 further comprising:

modifying at least one of the speed of the end effector or the distance traveled by the end effector as the end effector moves toward the surface of the structure.

41. The method of claim 24 further comprising:

identifying whether an object is present on the surface of the structure using a sensor in the plurality of sensors, wherein the object protrudes from the surface of the structure; and

generating a signal configured to stop the end effector before the pressure foot reaches the object.

42. The method of claim 24 further comprising:

positioning the plurality of sensors relative to a desired location for a hole to be drilled on the surface of the structure.

43. The method of claim 24 further comprising:

inspecting a flushness of a fastener inserted into a hole drilled in the surface of the structure using the sensor system.

44. The method of claim 43 further comprising:

modifying an operation of the end effector based on the flushness of the fastener.